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In CSP mode set op specific bits #7

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In CSP mode set op specific bits #7

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10 changes: 10 additions & 0 deletions cia402.comp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,7 @@ param rw float pos_scale "increments per machine unit";
param rw float velo_scale "velocity in machine units per 1 Motor revolution";
param rw bit auto_fault_reset "true resets an actual Drive Fault automatically at the next enable Signal";
param rw bit csp_mode "true= CS Position Mode, false= CS Velocity Mode, is only recognized at Linuxcnc Startup, default true";
param rw bit csp_mode_relative "true= use relative mode instead of absolute mode, this will be set into bit6 of the controlword";

//internals
variable float pos_scale_old;
Expand Down Expand Up @@ -276,6 +277,15 @@ FUNCTION(write_all) {
controlword |= (1 << 0); // switch on
if (stat_switched_on) {
controlword |= (1 << 3); // enable op
if (csp_mode == 1) {
controlword |= (1 << 4); // New set-point
controlword |= (1 << 5); // Update immediatley
if(csp_mode_relative) {
controlword |= (1 << 6);
} else {
controlword & ~(1 << 6);
}
}
}
}
}
Expand Down